Extended Luenberger Observer for Nonuniformly Observable Nonlinear Systems

Abstract

We consider the observer design problem for nonlinear single output systems. In contrast to most well-known design procedures the observability matrix may have a rank deficiency. The observer design is based on a partial observer form. The proposed observer is a generalization of the extended Luenberger observer. The observer gain can easily be computed.

Keywords: Nonlinear observer, normal form, detectability.